{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T07:16:10Z","timestamp":1774595770014,"version":"3.50.1"},"reference-count":13,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2017,6,6]],"date-time":"2017-06-06T00:00:00Z","timestamp":1496707200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2017,9]]},"abstract":"<jats:p> Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise. <\/jats:p>","DOI":"10.1177\/0037549717710098","type":"journal-article","created":{"date-parts":[[2017,6,6]],"date-time":"2017-06-06T14:49:26Z","timestamp":1496760566000},"page":"771-780","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["An architecture for multi-robot localization and mapping in the Gazebo\/Robot Operating System simulation environment"],"prefix":"10.1177","volume":"93","author":[{"given":"Erkan","family":"Uslu","sequence":"first","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]},{"given":"Furkan","family":"\u00c7akmak","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]},{"given":"Nihal","family":"Altunta\u015f","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]},{"given":"Salih","family":"Marangoz","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]},{"given":"Mehmet Fatih","family":"Amasyal\u0131","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]},{"given":"S\u0131rma","family":"Yavuz","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Yildiz Technical University, Turkey"}]}],"member":"179","published-online":{"date-parts":[[2017,6,6]]},"reference":[{"key":"bibr1-0037549717710098","doi-asserted-by":"crossref","unstructured":"Grisetti G, Stachniss C, Burgard W. Improved techniques for grid mapping with rao-blackwellized particle filters. Piscataway, NJ: IEEE Trans Robot 2007; 23: 34\u201346.","DOI":"10.1109\/TRO.2006.889486"},{"key":"bibr2-0037549717710098","first-page":"155","volume-title":"proceedings of the IEEE international symposium on safety, security and rescue robotics (SSRR)","author":"Kohlbrecher S"},{"key":"bibr3-0037549717710098","volume-title":"MRSLAM-multi-robot simultaneous localization and mapping","author":"Martins JAS","year":"2013"},{"key":"bibr4-0037549717710098","first-page":"1069","volume-title":"Amato N 2013 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Lazaro MT"},{"key":"bibr5-0037549717710098","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"bibr6-0037549717710098","first-page":"1083","volume-title":"2013 IEEE intelligent vehicles symposium (IV)","author":"Reid R"},{"key":"bibr7-0037549717710098","first-page":"1015","volume-title":"NIPS","author":"Murphy KP"},{"key":"bibr8-0037549717710098","first-page":"176","volume-title":"proceedings of the sixteenth conference on uncertainty in artificial intelligence","author":"Doucet A"},{"key":"bibr9-0037549717710098","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.09.013"},{"key":"bibr10-0037549717710098","volume-title":"Probabilistic robotics","author":"Thrun S","year":"2005"},{"key":"bibr11-0037549717710098","first-page":"19","volume-title":"robotics and automation","author":"Censi A."},{"key":"bibr12-0037549717710098","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971484"},{"key":"bibr13-0037549717710098","unstructured":"Koenig N. Pioneer 3-AT demo, https:\/\/github.com\/nkoenig\/pioneer3at_demo2016 (accessed 13 April 2016)."}],"container-title":["SIMULATION"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0037549717710098","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0037549717710098","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0037549717710098","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T15:30:46Z","timestamp":1740843046000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0037549717710098"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,6,6]]},"references-count":13,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2017,9]]}},"alternative-id":["10.1177\/0037549717710098"],"URL":"https:\/\/doi.org\/10.1177\/0037549717710098","relation":{},"ISSN":["0037-5497","1741-3133"],"issn-type":[{"value":"0037-5497","type":"print"},{"value":"1741-3133","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,6,6]]}}}